KR102322002B1 - Method and apparatus for setting assistant torque - Google Patents

Abstract

A method and apparatus for setting an assisting force are disclosed. The assistive force setting apparatus according to an embodiment generates a reference gait model by applying the user's body information to a predetermined human body model, and adjusts the assisting force provided to the user by the gait assisting apparatus based on the reference gait model to provide optimal assistance set the power

Description

Auxiliary force setting method and device {METHOD AND APPARATUS FOR SETTING ASSISTANT TORQUE}

The following embodiments relate to a method and apparatus for setting assisting force.

Recently, as an aging society deepens, people complaining of pain and discomfort due to joint problems are increasing, and interest in walking aids that can facilitate walking for the elderly or patients with joint problems is increasing. In addition, for the purpose of military use, etc., walking assistance devices for strengthening the muscular strength of the human body have been developed.

For example, the walking assistance device includes a body frame mounted on the user's torso, a pelvic frame coupled to the lower side of the body frame and surrounding the user's pelvis, and a femoral frame mounted on the user's thighs, calves, and feet, and calves. It consists of a frame and a foot frame. The pelvic frame and the femur frame are rotatably connected by the hip joint part, the femoral frame and the calf frame are rotatably connected by the knee joint part, and the calf frame and the foot frame are rotatably connected by the ankle joint part.

Recently, research has been conducted to assist a user to more conveniently walk.

An assistive force setting apparatus according to an embodiment includes: a body information extraction unit for extracting body information of a user; a reference gait model generator for generating a reference gait model by applying the body information to a predetermined human body model; and an assisting force setting unit configured to set an optimal assisting force by adjusting an assistive torque provided to the user by the walking assisting device based on the reference walking model.

The body information may include at least one of joint information, muscle information, and nerve information of the user.

The body information extractor may extract the joint information using at least one of a motion capture device and a force plate device.

The assisting force setting unit may calculate a Metabolic Cost Of Transport (MCOT) to extract energy consumed by the user for walking, and adjust the assisting force based on the extracted energy.

The assisting force setting unit may calculate the MCOT by using the force used by the user's muscle for walking, the moving speed of the muscle, the moving distance of the user, and the mass of the muscle.

The assisting force setting unit generates an initial assisting force profile indicating a change trajectory of the assisting force according to a predetermined period based on the reference walking model, and adjusting the change trajectory to minimize the MCOT. can be extracted.

The assisting force setting unit may adjust the change trajectory so that the MCOT is decreased until the MCOT is minimized.

The assisting force setting unit may extract a rate of change of the MCOT according to the adjustment of the change trajectory.

The assisting force setting unit may extract the optimal assisting force profile using dynamic programming or a rapidly-exploring random tree (RRT).

The assisting force setting unit, based on the reference walking model, adjusts a gain of a driver of the walking assisting device that outputs an assisting force corresponding to at least one of a hip joint angle or a hip joint angular velocity of the user, so that the MCOT It is possible to extract the optimal gain that is the minimum.

The assisting force setting unit may measure at least one of the hip joint angle and the hip joint angular velocity in real time.

The auxiliary force setting unit may adjust the gain so that the MCOT is decreased until the MCOT is minimized.

The auxiliary force setting unit may extract a rate of change of the MCOT according to the adjustment of the gain.

The auxiliary force setting unit may extract the optimum gain using a Newton method.

The assisting force setting unit may extract the optimal gain when the measured hip joint angle or hip joint angular velocity deviates from a predetermined threshold range or more based on the hip joint angle or hip joint angular velocity corresponding to the optimal assisting force profile. have.

According to an exemplary embodiment, a walking assistance apparatus includes: a receiver configured to receive a reference gait model generated by applying body information of a user to a predetermined human body model from the outside; and an assisting force setting unit configured to set an optimal assisting force by adjusting the assisting force provided to the user by the walking assisting device based on the reference walking model.

The walking assistance apparatus according to an embodiment further includes a selection unit configured to select any one operation mode from among a first operation mode for providing the assisting force to the user and a second operation mode for setting the optimal assistive force, The assisting force setting unit may set the optimal assisting force when the second operation mode is selected by the selecting unit.

The assisting force setting unit may calculate an MCOT to extract energy consumed by the user for walking, and adjust the assisting force based on the extracted energy.

The assisting force setting unit may calculate the MCOT by using a force used by the user's muscle for walking, a movement speed of the muscle, a movement distance of the user, and a mass of the muscle.

The assisting force setting unit generates an initial assisting force profile indicating a change trajectory of the assisting force according to a predetermined period based on the reference walking model, and adjusting the change trajectory to minimize the MCOT. can be extracted.

The assisting force setting unit, based on the reference walking model, adjusts a gain of a driver of the walking assisting device that outputs an assisting force corresponding to at least one of a hip joint angle or a hip joint angular velocity of the user, so that the MCOT It is possible to extract the optimal gain that is the minimum.

The assisting force setting unit may measure at least one of the hip joint angle and the hip joint angular velocity in real time.

The assisting force setting unit may extract the optimal gain when the measured hip joint angle or hip joint angular velocity deviates from a predetermined threshold range or more based on the hip joint angle or hip joint angular velocity corresponding to the optimal assisting force profile. have.

An assistive force setting method according to an embodiment includes extracting body information of a user; generating a reference gait model by applying the body information to a predetermined human body model; and setting an optimal assisting force by adjusting the assisting force provided to the user by the walking assisting device based on the reference walking model.

An assistive force setting method according to an embodiment includes: receiving a reference gait model generated by applying body information of a user to a predetermined human body model from the outside; and setting an optimal assisting force by adjusting the assisting force provided to the user by the walking assisting device based on the reference walking model.

1 is a diagram for describing a walking assistance apparatus according to an exemplary embodiment.
2 is a block diagram illustrating an assistive force setting apparatus according to an exemplary embodiment.
3 is a block diagram illustrating a walking assistance apparatus according to an exemplary embodiment.
4 is an operation flowchart illustrating extraction of an optimal assistive force profile according to an embodiment.
5 is an operation flowchart illustrating extraction of an optimal gain according to an exemplary embodiment.
6 is a diagram for explaining extraction of joint information according to an embodiment.
7 is a diagram for describing a reference gait model according to an exemplary embodiment.
8 is a diagram for explaining extraction of an optimal assisting force profile according to an embodiment.
9 is a diagram for explaining extraction of an optimal gain for a change in a walking environment according to an exemplary embodiment.
10 is a diagram for describing setting of an optimal assisting force according to an exemplary embodiment.
11 is a diagram for explaining an interface for providing an optimal assisting force profile according to an embodiment.
12 is a method flowchart illustrating a method of setting an assisting force according to an embodiment.
13 is a flowchart illustrating a walking assistance method according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

Various modifications may be made to the embodiments described below. It should be understood that the embodiments described below are not intended to limit the embodiments, and include all modifications, equivalents or substitutes thereto.

Terms used in the examples are only used to describe specific examples, and are not intended to limit the examples. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

In addition, in the description with reference to the accompanying drawings, the same components are assigned the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted. In the description of the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the embodiment, the detailed description thereof will be omitted.

1 is a diagram for describing a walking assistance apparatus according to an exemplary embodiment.

Referring to FIG. 1 , the walking assistance apparatus 100 may be mounted on a user to assist the user in walking. The walking assistance apparatus includes a driver 110 , a sensor unit 120 , an Inertial Measurement Unit (IMU) sensor 130 , and a controller 140 . Although the hip-type walking assistance apparatus is illustrated in FIG. 1 , the present invention is not limited thereto, and may be applied to both a form supporting the entire lower extremity and a form supporting a part of the lower extremity. In addition, it can be applied to a form that supports a part of the lower extremities, a form that supports up to the knee, a form that supports up to the ankle, and a form that supports the whole body.

The actuator 110 may drive both hip joints of the user, and may be located in the user's right and left hip portions.

The sensor unit 120 measures both hip joint angle information of the user when walking. The both hip joint angle information sensed by the sensor unit 120 may include at least one of an angle between both hip joints, a difference between both hip joint angles, and both hip joint motion directions. In an embodiment, the sensor unit 120 may be located in the driver 110 .

In another embodiment, the sensor unit 120 may include a potentiometer. The potentiometer may sense at least one of a change amount of an R-axis and an L-axis joint angle or a change amount of an R-axis and an L-axis joint angular velocity according to the user's gait motion.

The IMU sensor 130 measures acceleration information and posture information when the user walks. For example, the IMU sensor 130 may sense at least one of an amount of change in X-axis, Y-axis, and Z-axis acceleration or an amount of change in angular velocity on the X-axis, Y-axis, and Z-axis according to the user's gait motion. The landing time of the user's foot may be detected based on the acceleration information measured by the IMU sensor 130 . However, when the sensor unit 120 includes a sensor capable of detecting the landing time of the foot, the IMU sensor 130 may not be included in the walking assistance device 100 in recognizing the walking motion.

In addition to the sensor unit 120 and the IMU sensor 130 described above, the walking assistance device 100 includes other sensors (eg, electromyography) capable of sensing a change in an amount of exercise or a biosignal of a user according to a walking motion. sensor) may be included.

The controller 140 controls the driver 110 so that the driver 110 outputs an assisting force (or assisting torque) to assist the user in walking. For example, in the hip-type walking assistance device 110 , there may be two actuators 110 , and the controller 140 controls the actuator 110 so that the actuator 110 outputs an assisting force corresponding to the actuator 110 . 110) can output a control signal. Based on the control signal output from the controller 140, the actuator 110 may output assisting force to drive the user's hip joint appropriately for the recognized gait motion. In this case, the assisting force may be set externally, or the controller 140 may set the assisting force.

2 is a block diagram illustrating an assistive force setting apparatus according to an exemplary embodiment.

Referring to FIG. 2 , the assistive force setting device 200 may be a separate device physically independent from the walking assisting device, or may be implemented as a logical model inside the walking assisting device.

The assistive force setting apparatus 200 includes a body information extracting unit 210 , a reference walking model generating unit 220 , and an assisting force setting unit 230 .

The body information extraction unit 210 extracts the user's body information. Here, the body information may include at least one of joint information, muscle information, and nerve information of the user. The joint information may include a length of a joint, a weight of a joint, a moment of inertia of a joint, a joint position, and the like, and the joint information may be expressed as a body segment parameter.

The body information extraction unit 210 may measure the user's gait information using a motion capture device or a force plate device, and extract the user's joint information using the measured gait information. . For example, when a marker is attached to a user's joint, the body information extraction unit 210 may measure information on the length and location of the user's joint and movement information of the joint according to gait using a motion capture device. have. The body information extractor 210 may acquire the length of each joint and the joint connection position by using the measured information. In addition, when the 6-axis force plate is installed at the user's feet, the body information extraction unit 210 can measure the ground reaction force according to walking using the 6-axis force plate, and use the motion capture device and the 6-axis force plate. By applying dynamic models and optimization techniques to the measured information, accurate joint information can be extracted.

Also, in an embodiment, the body information extractor 210 may obtain only information such as the user's height and weight, and calculate joint information proportionally using the statistical information.

Also, the body information extractor 210 may estimate muscle information based on joint information. The muscle information indicates muscle activity characteristics, and for example, the muscle information may include temporary maximum strength, muscular endurance, and maximum strength values. Also, the muscle information may be expressed as a muscle parameter. As an example, the body information extractor 210 may estimate a moment acting inside the human body by using the joint information, and perform a simulation based on the joint information, the estimated moment, and the position information where the muscle and the skeleton are in close contact. Thus, the force generated by the muscle can be calculated. The body information extraction unit 210 may estimate the amount of muscle use or left-right symmetry information by using the information on the force generated by the muscle, and use at least one of the muscle use amount or the left-right symmetry information to ensure that the muscle is in a normal state. It can be determined whether or not Also, when it is determined that the muscle is in an abnormal state, the body information extractor 210 may estimate the user's disease pattern by using the user's gait information. The body information extraction unit 210 may model the user's disease pattern, and extract muscle information based on joint information and the modeled disease pattern.

In an embodiment, the body information extractor 210 may measure the user's EMG signal according to walking using an ElectroMyoGram (EMG) sensor, and may estimate muscle activity characteristics using the EMG signal.

Also, the body information extraction unit 210 may extract neural information of a user who walks. In order to generate a force in a muscle, a micro-excitation signal generated from the nervous system is required, and the excitation signal is the starting point, so a positive feedback can be applied to the muscle, and thus a force can be generated. In this regard, information on a chain reaction relationship between a delay rate and other signals in a general neural reaction is required. 200, by using the extracted neural information, it is possible to accurately estimate the movement of a person. The neural information includes a neural transmission speed, and the neural information may be expressed as a neural parameter such as a feedback amplification gain.

The reference gait model generator 220 generates a reference gait model by applying the user's body information to a predetermined human body model. Here, the reference gait model reproduces the user's muscle control mechanism, and may represent a model simulating the user's gait by reflecting the user's body characteristics. The reference gait model generation unit 220 may generate a reference gait model through simulation in which at least one of joint information, muscle information, and nerve information extracted by the body information extraction unit 210 is applied to a predetermined human body model. As an example, the reference gait model generation unit 220 may generate a proportional differential controller that provides a command to a muscle to perform gait on a simulation by using an optimization technique such as a computed muscle control technique, and the proportional differential controller can be used to extract a reference gait model.

In an embodiment, the reference gait model generation unit 220 may generate a reference gait model to which the user's condition is applied based on the user's condition pattern modeled by the body information extraction unit 210 .

The assisting force setting unit 230 sets the optimal assisting force by adjusting the assisting force provided to the user by the walking assisting device based on the reference walking model. Here, the optimal assisting force may mean a force, specifically, torque, transmitted by the walking assisting device to the user so that the energy consumed by the user for walking is minimized. In general, a user can walk using a minimum amount of energy in order to walk at a desired speed under a given muscle condition. If a specific muscle is damaged, the user may walk to consume a minimum amount of energy under the changed muscle condition. In addition, the walking assistance device may generate an assisting force using the actuator and provide the generated assisting force to the user. In this case, if the assisting force is consistently provided to the user without considering the user's characteristics, the user may consume a lot of energy for walking. For example, even if the left hamstring muscle is damaged and the right hamstring muscle is normal, if the walking assistance device provides the same assisting force for both the left and right sides, the user consumes a lot of energy for walking, making it difficult to walk smoothly. can Accordingly, the walking assistance apparatus may provide the user with an optimal assisting force that minimizes the energy consumed by the user for walking in consideration of the user's characteristics.

Since the user's body information is reflected in the reference gait model, the assisting force setting unit 230 may apply the reference gait model to the simulation to implement the user's gait in the simulation. Also, the assisting force setting unit 230 may apply a mechanism in which the walking assisting device transmits the assisting force through the actuator to the reference walking model. Accordingly, the assisting force setting unit 230 may implement the walking of the user wearing the walking assisting device in the simulation. The assisting force setting unit 230 may set the optimal assisting force by adjusting the assisting force provided by the walking assisting device to the user based on the simulation for implementing the walking of the user wearing the walking assisting device.

The assisting force setting unit 230 may extract energy consumed by the user for walking by calculating a Metabolic Cost Of Transport (MCOT). MCOT refers to metabolic energy consumed by a user for walking, and may be calculated by adding up energy consumed by muscles of each joint of the user for walking. MCOT can be expressed by Equation 1 below.

[Equation 1]

Here, E represents the energy consumed by the user for walking, F represents the force each muscle uses for walking, v represents the movement speed of each muscle, l represents the user's moving distance, and m represents the muscle represents the total mass of , and F·v represents the power of the muscles of each joint. The assisting force setting unit 230 may set the MCOT as the objective function, and may set the optimal assisting force at which the objective function is the minimum. In an embodiment, l may represent one step, and in this case, E may represent energy consumed by the user for walking one step.

In an embodiment, the assisting force setting unit 230 may extract the optimal assisting force profile in which the MCOT is minimized by adjusting the change trajectory of the assisting force. Here, the assisting force profile may indicate a change trajectory of the assisting force according to a predetermined period. For example, the assistive force profile may indicate a trajectory of a change in assistive force applied to the user while the user walks one step.

The assisting force setting unit 230 may set an initial change trajectory of the assisting force, and set the set initial change trajectory as the initial assisting force profile. In an embodiment, the assisting force setting unit 230 may set a change pattern of the assisting force that the walking assisting device should provide to the user in order for the user to walk normally, as an initial change trajectory. For example, the assisting force setting unit 230 may extract a force required for each muscle of the user and a force that may be actually generated by each muscle of the user in order to perform a normal gait, based on the user's body information, , it is possible to set the initial change trajectory of the auxiliary force by using the difference in the extracted forces. In another embodiment, the assisting force setting unit 230 may set a predetermined change trajectory of the assisting force as the initial change trajectory of the assisting force.

The assisting force setting unit 230 may generate an optimal assisting force profile by adjusting the initial change trajectory. The assisting force setting unit 230 may extract the MCOT according to the initial change trajectory and adjust the initial change trajectory. At this time, the auxiliary force setting unit 230 extracts the rate of change of the MCOT according to the adjustment of the change trajectory, and adjusts the change trajectory so that the MCOT is reduced until the MCOT is minimized based on the extracted rate of change of the MCOT. . For example, the assisting force setting unit 230 may extract a rate of change of the MCOT according to a minute change in the change trajectory, and may adjust the change trajectory until the MCOT no longer decreases. When it is determined that the MCOT is the minimum value, the assisting force setting unit 230 may set the change trajectory when the MCOT is the minimum value as the optimal change trajectory and generate an optimal assisting force profile according to the optimal change trajectory. When the walking assistance device provides assisting force according to the optimal assistive force profile, the user can facilitate walking with little energy consumption, and thus, the effectiveness of the walking assisting device can be increased.

In an embodiment, the assisting force setting unit 230 may extract an optimal change trajectory in which the MCOT is minimized by using dynamic programming or a rapidly-exploring random tree (RRT). Also, the present invention is not limited thereto, and the assisting force setting unit 230 may extract an optimal change trajectory in which the MCOT is minimized by using other techniques capable of extracting an optimal value in addition to the dynamic programming method and RRT.

In one embodiment, the assisting force setting unit 230 adjusts the gain of the actuator of the walking assisting device that outputs the assisting force corresponding to at least one of the user's hip joint angle or hip joint angular velocity, based on the reference walking model. , it is possible to extract the optimum gain at which the MCOT is minimized.

The assisting force setting unit 230 may measure the user's hip joint angle or hip joint angular velocity by using a sensor attached to the user (eg, a sensor mounted on a walking assistance device). The assisting force setting unit 230 may set a different assisting force according to the user's hip joint angle or hip joint angular velocity. In an embodiment, the assisting force setting unit 230 may preset an assisting force corresponding to the hip joint angle or the hip joint angular velocity. For example, when the difference between the user's left hip joint angle and the right hip joint angle is small, the assisting force setting unit 230 may set a relatively large assisting force, and the user's left hip joint angle and right hip joint angle When the difference between ' is large, the assisting force setting unit 230 may set a relatively small assisting force. In addition, as the user's hip joint angular velocity increases, the assisting force setting unit 230 may set a large assisting force. Accordingly, the assisting force setting unit 230 may adaptively set the assisting force according to the user's hip joint angle or hip joint angular velocity. Also, in another embodiment, the assisting force setting unit 230 may set the assisting force regardless of the user's hip joint angle or hip joint angular velocity.

The assisting force setting unit 230 may set an optimal gain by adjusting a gain of the driver corresponding to the set assisting force. In an embodiment, the assisting force setting unit 230 implements the gait of the user wearing the walking assisting device in the simulation based on the reference gait model, and adjusts the gain of the driver corresponding to the assisting force set in the simulation to obtain an optimal gain. can be extracted. The auxiliary force setting unit 230 may set a gain of the driver corresponding to the set auxiliary force as an initial gain and adjust the initial gain. The auxiliary force setting unit 230 may extract a rate of change of MCOT according to the adjustment of the gain, and adjust the gain such that the MCOT is reduced until the MCOT is minimized.

In one embodiment, the assisting force setting unit 230 may set the optimal gain using a Newton method (newton method). Also, the present invention is not limited thereto, and the assisting force setting unit 230 may extract the optimum gain at which the MCOT is minimized by using other techniques capable of performing optimization in addition to the Newton method.

The assisting force setting unit 230 may continuously feed back the user's hip joint angle or hip joint angular velocity, and whenever the user's hip joint angle or hip joint angular velocity is changed over a predetermined critical range, the MCOT is minimized. gain can be extracted. Accordingly, the assisting force setting unit 230 may provide an assisting force capable of minimizing energy according to walking to the user even when the user instantaneously changes the movement.

In an embodiment, the assisting force setting unit 230 may extract an optimal assisting force profile or an optimal gain according to the user's walking environment. For example, when the walking environment is constant (for example, when a flat environment, an upward slope/stair environment, and a downward slope/stair environment continue for a predetermined time), the assisting force setting unit 230 generates an initial assisting force profile and , it is possible to extract the optimal assisting force profile by adjusting the initial change trajectory. In addition, when the walking environment is suddenly changed (for example, from a flat environment to an upward inclination environment), the walking assistance device is a driver that outputs an assisting force corresponding to at least one of the user's hip joint angle or hip joint angular velocity. By adjusting the gain, an optimal gain can be extracted.

In an embodiment, the assisting force setting unit 230 may set the assisting force so that the energy consumed by the user for walking has a predetermined size. In general, the user walks using the minimum energy to walk at a desired speed under the current muscle condition, but when the muscle is strengthened, the load acting on the muscle is increased, so that the energy consumed by the user for walking is predetermined. It may have to be larger than the size. To this end, the assisting force setting unit 230 may preset the energy consumed by the user for walking or may receive an input from an external device, and may set the assisting force so that the energy consumed by the user for walking has a set size. In this case, the assisting force setting unit 230 may extract an optimal assisting force profile or an optimal gain that allows the MCOT to converge to a predetermined size.

In an embodiment, the assistive force setting apparatus 200 uses the communication interface to set the body information extracted by the body information extractor 210 , the reference gait model generated by the reference gait model generator 220 , or the assistive force setting unit Information on the optimal assisting force set in step 230 may be transmitted to an external device (eg, an external walking assisting device, a server).

3 is a block diagram illustrating a walking assistance apparatus according to an exemplary embodiment.

Referring to FIG. 3 , the walking assistance apparatus 300 includes a receiving unit 310 and an assisting force setting unit 320 . The receiver 310 receives a reference gait model generated by applying the user's body information to a predetermined human body model from an external device. The receiver 310 may receive the reference gait model from the assistive force setting apparatus 200 of FIG. 2 or the reference gait model from another device (eg, a server) using a communication interface. Here, the reference gait model reproduces the user's muscle control mechanism, and may represent a model simulating the user's gait by reflecting the user's body characteristics. The reference gait model is generated by an external device (eg, the assistive force setting device 200 of FIG. 2 , the server) through simulation in which body information such as the user's joint information, muscle information, or nerve information is applied to a predetermined human body model. can be For example, an external device may generate a proportional differential controller that provides a command to a muscle to perform a gait in a simulation by using an optimization technique such as a computed muscle control technique, and uses the proportional differential controller to generate a reference gait You can create a model.

The assisting force setting unit 320 sets the optimal assisting force by adjusting the assisting force provided to the user by the walking assisting device based on the reference walking model. Here, the optimal assisting force may mean a force transmitted by the walking assisting device to the user so that the energy consumed by the user for walking is minimized.

The assisting force setting unit 320 may extract energy consumed by the user for walking by calculating the MCOT. MCOT may be represented by Equation 1 described above. As described above, the assisting force setting unit 320 may calculate the MCOT by using the force used by the user's muscles for walking, the movement speed of the muscle, the movement distance of the user, and the total mass of the muscle.

In an embodiment, the assisting force setting unit 320 may extract the optimal assisting force profile in which the MCOT is minimized by adjusting the change trajectory of the assisting force. The assisting force setting unit 320 may set an initial change trajectory of the assisting force, and set the set initial change trajectory as an initial assisting force profile. For example, the assisting force setting unit 320 may set a change pattern of the assisting force that the walking assisting device should provide to the user in order for the user to walk normally as an initial change trajectory. As another example, the assisting force setting unit 320 may set a predetermined change trajectory of the assisting force as the initial change trajectory of the assisting force.

The assisting force setting unit 320 may generate an optimal assisting force profile by adjusting the initial change trajectory. The assisting force setting unit 320 may extract the MCOT according to the initial change trajectory and adjust the initial change trajectory. At this time, the assisting force setting unit 320 may extract the rate of change of the MCOT according to the adjustment of the change trajectory, and adjust the change trajectory so that the MCOT is reduced until the MCOT is minimized. For example, the assisting force setting unit 320 may extract a rate of change of the MCOT according to a minute change in the change trajectory, and may adjust the change trajectory until the MCOT no longer decreases. When it is determined that the MCOT is the minimum value, the assisting force setting unit 320 may set the change trajectory when the MCOT is the minimum value as the optimal change trajectory and generate an optimal assisting force profile according to the optimal change trajectory. The walking assistance apparatus 300 may provide assistance according to an optimal assistance profile. Accordingly, the user can facilitate walking while consuming less energy.

In an embodiment, the assisting force setting unit 320 may extract an optimal change trajectory in which the MCOT is minimized by using a dynamic programming method or RRT. Also, the present invention is not limited thereto, and the assisting force setting unit 320 may extract the optimal change trajectory in which the MCOT is minimized by using other techniques capable of extracting the optimal change trajectory in addition to the dynamic programming method and RRT.

In one embodiment, the assisting force setting unit 320 adjusts the gain of the driver of the walking assisting device that outputs the assisting force corresponding to at least one of the user's hip joint angle and hip joint angular velocity, based on the reference walking model. , it is possible to extract the optimum gain at which the MCOT is minimized.

The assisting force setting unit 320 may measure the hip joint angle or the hip joint angular velocity of the user by using a sensor (eg, an IMU sensor, a potentiometer) mounted on the walking assistance device. The assisting force setting unit 320 may set a different assisting force according to the user's hip joint angle or hip joint angular velocity. In one embodiment, the assisting force setting unit 320 may preset the assisting force corresponding to the hip joint angle or the hip joint angular velocity. For example, when the difference between the user's left hip joint angle and the right hip joint angle is small, the assisting force setting unit 320 may set a relatively large assisting force, and the user's left hip joint angle and right hip joint angle When the difference between ' is large, the assisting force setting unit 320 may set a relatively small assisting force. In addition, as the user's hip joint angular velocity increases, the assisting force setting unit 320 may set a large assisting force. Accordingly, the assisting force setting unit 320 may adaptively set the assisting force according to the user's hip joint angle or hip joint angular velocity. Also, in another embodiment, the assisting force setting unit 320 may set the assisting force regardless of the user's hip joint angle or hip joint angular velocity.

The assisting force setting unit 320 may extract an optimal gain by adjusting the gain of the driver corresponding to the set assisting force. At this time, the auxiliary force setting unit 320 may track the change in MCOT according to the adjustment of the gain, and adjust the gain so that the MCOT is reduced until the MCOT is minimized.

In an embodiment, the assisting force setting unit 320 may extract an optimal gain using the Newton method. Also, the present invention is not limited thereto, and the assisting force setting unit 320 may extract the optimum gain at which the MCOT is minimized by using other techniques capable of performing optimization in addition to the Newton method.

The auxiliary force setting unit 320 may continuously feed back the user's hip joint angle or hip joint angular velocity, and whenever the user's hip joint angle or hip joint angular velocity is changed over a predetermined range, the MCOT is the minimum optimal gain. can be extracted. The walking assistance apparatus 300 may provide assistance to the user by driving the actuator according to the optimum gain. Accordingly, the assisting force setting unit 320 may provide an assisting force capable of minimizing energy according to walking to the user even when the user instantaneously changes the movement.

In an embodiment, the assisting force setting unit 320 may extract an optimal assisting force profile or an optimal gain according to the user's walking environment. For example, when the walking environment is constant, the assisting force setting unit 320 may generate an initial assisting force profile and extract an optimal assisting force profile by adjusting the initial change trajectory. Also, when the walking environment is suddenly changed, the walking assistance apparatus may extract an optimal gain by adjusting a gain corresponding to an assisting force corresponding to at least one of the user's hip joint angle or hip joint angular velocity.

In an embodiment, the assisting force setting unit 320 may set the assisting force so that the energy consumed by the user for walking becomes a predetermined size. In general, the user walks using a minimum amount of energy to walk at a desired speed under muscle conditions, but when the muscle is strengthened, the load acting on the muscle is increased, so that the energy consumed by the user for walking is a predetermined size. It may have to be more than To this end, the assisting force setting unit 320 may preset the energy consumed by the user for walking or may receive an external input, and may set the assisting force so that the energy consumed by the user for walking has a set size. In this case, the assisting force setting unit 320 may extract an optimal assisting force profile or an optimal gain that allows the MCOT to converge to a predetermined size.

In an embodiment, the walking assistance apparatus 300 may include a selection unit. The selector may select an operation mode of the walking assistance apparatus 300 . Here, the operation mode may include a first operation mode (or a normal mode) that provides the assisting force to the user and a second operation mode (or a fitting mode) that sets the optimal assistive force. For example, the selection unit may receive an operation mode input from the user. When the second operation mode is selected by the selection unit, the assisting force setting unit 320 may set the optimal assisting force.

In an embodiment, the walking assistance apparatus 300 may transmit information on the optimal assisting force set by the assisting force setting unit 320 to an external device (eg, a server) using a communication interface.

4 is an operation flowchart illustrating extraction of an optimal assistive force profile according to an embodiment.

Referring to FIG. 4 , the assistive force setting device acquires a reference gait model ( 410 ). The assistive force setting apparatus may extract the user's body information and extract the reference gait model by applying the extracted user's body information to a predetermined human body model. Also, in an embodiment, the assistive force setting device may receive a reference gait model from an external device using a communication interface.

In addition, the assisting force setting device adjusts the change trajectory of the assisting force ( 420 ). The assisting force setting apparatus may set an initial change trajectory of the assisting force, and set the set initial change trajectory as the initial assisting force profile. For example, the assistive force setting apparatus may set a change pattern of the assisting force that the walking assisting apparatus should provide to the user in order for the user to walk normally as an initial change trajectory. As another example, the assisting force setting apparatus may set a predetermined change trajectory of the assisting force as the initial change trajectory of the assisting force. The auxiliary force setting device may adjust the initial change trajectory, and may adjust the change trajectory until the MCOT is minimized, according to a description to be described later.

In addition, the assisting force setting device calculates the rate of change of the MCOT according to the adjustment of the change trajectory ( 430 ). MCOT may be represented by Equation 1 described above. As described above, the assistive force setting apparatus may calculate the MCOT by using the force used by the user's muscles for walking, the movement speed of the muscle, the movement distance of the user, and the total mass of the muscle. Whenever the auxiliary force setting device adjusts the change trajectory, it may calculate a rate of change of the MCOT based on the adjusted change trajectory.

In addition, the assisting force setting apparatus determines whether the MCOT is the minimum based on the rate of change of the MCOT according to the adjustment of the change trajectory ( 440 ). When it is determined that the MCOT is the minimum value, the assisting force setting apparatus may set the change trajectory when the MCOT is the minimum value as the optimal change trajectory and generate an optimal assisting force profile according to the optimal change trajectory ( 450 ). When it is determined that the MCOT is not the minimum value, the assisting force setting device adjusts the change trajectory of the assisting force ( 420 ). In this case, the auxiliary force setting device may adjust the initial change trajectory or adjust the previously adjusted change trajectory again. Accordingly, the auxiliary force setting device may adjust the change trajectory so that the MCOT is decreased until the MCOT is minimized.

5 is an operation flowchart illustrating extraction of an optimal gain according to an exemplary embodiment.

Referring to FIG. 5 , the assisting force setting device acquires a reference gait model ( 510 ). The assistive force setting apparatus may extract the user's body information and set the reference walking model by applying the extracted user's body information to a predetermined human body model. Also, in an embodiment, the assistive force setting device may receive a reference gait model from an external device using a communication interface.

In addition, the assistive force setting device measures at least one of the user's hip joint angle and hip joint angular velocity ( 520 ). The assistive force setting device may measure the user's hip joint angle or hip joint angular velocity using a sensor attached to the user (eg, a sensor mounted on the walking assisting device). In an embodiment, the assisting force setting apparatus may set a different assisting force according to the user's hip joint angle or hip joint angular velocity. For example, the assisting force setting device may preset an assisting force corresponding to the hip joint angle or the hip joint angular velocity. Also, in another embodiment, the assisting force setting apparatus may set the assisting force regardless of the user's hip joint angle or hip joint angular velocity.

In addition, the auxiliary force setting device adjusts the gain of the driver corresponding to the set auxiliary force ( 530 ). In this case, the auxiliary force setting device may set the gain of the driver corresponding to the set auxiliary force as the initial gain and adjust the initial gain. At this time, the auxiliary force setting device may adjust the gain until the MCOT becomes the minimum according to a description to be described later.

In addition, the auxiliary force setting device calculates the rate of change of the MCOT according to the adjustment of the gain (540). MCOT may be represented by Equation 1 described above. As described above, the assistive force setting apparatus may calculate the MCOT by using the force used by the user's muscles for walking, the movement speed of the muscle, the movement distance of the user, and the total mass of the muscle. Whenever a gain is adjusted, the auxiliary force setting device may calculate a rate of change of the MCOT based on the adjusted gain.

In addition, the assisting force setting apparatus determines whether the MCOT is the minimum based on the change rate of the MCOT according to the adjustment of the change trajectory ( 550 ). When it is determined that the MCOT is the minimum value, the assisting force setting device sets the gain when the MCOT is the minimum value as the optimal gain ( 560 ). If it is determined that the MCOT is not the minimum value, the assisting force setting device adjusts the individual ( 530 ). In this case, the auxiliary force setting device may adjust the initial gain or may adjust the pre-adjusted gain again. Accordingly, the auxiliary force setting device may adjust the gain so that the MCOT is reduced until the MCOT is minimized.

In addition, the auxiliary force setting device can continuously feed back the user's hip joint angle or hip joint angular velocity, and whenever the user's hip joint angle or hip joint angular velocity is changed by more than a predetermined range, the optimal gain for which the MCOT is minimized can be extracted.

6 is a diagram for explaining extraction of joint information according to an embodiment.

Referring to FIG. 6 , in order to measure the user's gait information, a marker may be attached to each joint of the user. In addition, a six-side force plate may be installed at the user's feet. The assistive force setting device may measure information on the length and position of the user's joint based on the position of the marker using the motion capture device, and the movement of the joint according to the gait based on the movement of the marker according to the user's gait information can be measured. The assistive force setting device may acquire the length of each joint and the connection position between the joints by using the measured information.

In addition, the auxiliary force setting device may measure the ground reaction force according to the user's gait by using the six-side force plate. The assistive force setting device can extract accurate joint information by applying a dynamics model and optimization technique to information measured using a motion capture device and a 6-axis force plate.

7 is a diagram for describing a reference gait model according to an exemplary embodiment.

Referring to FIG. 7 , the assistive force setting apparatus generates a reference gait model 710 by applying at least one of joint information, muscle information, and nerve information of the user to a predetermined human body model. As an example, the assistive force setting device may generate a proportional differential controller that provides a command to a muscle to perform gait on a simulation by using an optimization technique such as a computed muscle control technique, and refer to it using the proportional differential controller A gait model can be created.

In addition, in an embodiment, the assistive force setting apparatus may model the user's disease pattern based on the user's gait information, and generate a reference gait model 710 to which the user's disease is applied based on the modeled disease pattern. can

In addition, the assisting force setting apparatus may apply a mechanism in which the walking assisting apparatus 720 transmits the assisting force through the actuator to the reference walking model 710 . Accordingly, the assistive force setting apparatus may implement the walking of the user wearing the walking assisting apparatus 720 in the simulation. The assisting force setting unit 230 may set the optimal assisting force by adjusting the assisting force provided to the user by the walking assisting device based on a model in which the mechanism of the walking assisting device 720 is applied to the reference walking model 710 .

8 is a diagram for explaining extraction of an optimal assisting force profile according to an embodiment.

Referring to FIG. 8 , the horizontal axis of the graphs 810 and 820 represents time (eg, the time a user walks one step), and the vertical axis of the graphs 810 and 820 represents assisting force.

The assisting force setting apparatus may set the initial change trajectory 811 of the assisting force, and set the set initial change trajectory 811 as the initial assisting force profile 810 . For example, the assistive force setting apparatus may set a change pattern of the assisting force to be provided to the user by the walking assisting apparatus in order for the user to walk normally as the initial change trajectory 811 . Also, the apparatus for setting the assisting force may set the predetermined change trajectory of the assisting force as the initial change trajectory 810 of the assisting force.

The auxiliary force setting device may adjust the initial change trajectory 811 . For example, the assisting force setting apparatus may change the assisting force 821 into the assisting force 822 on the initial change trajectory 811 . The assisting force setting apparatus may extract a rate of change of the MCOT according to the adjustment of the change trajectory, and determine whether the MCOT is a minimum value based on the rate of change of the MCOT. When it is determined that the MCOT is the minimum value, the assisting force setting apparatus may set the change trajectory 823 when the MCOT is the minimum value as the optimal change trajectory and generate the optimal assisting force profile 820 according to the optimal change trajectory. When it is determined that the MCOT is not the minimum value, the assisting force setting device may adjust the change trajectory to decrease the MCOT until the MCOT becomes the minimum value. In an embodiment, the assisting force setting apparatus may extract an optimal change trajectory in which the MCOT is minimized by adjusting the change trajectory using a dynamic programming method or RRT.

9 is a diagram for explaining extraction of an optimal gain for a change in a walking environment according to an exemplary embodiment.

Referring to FIG. 9 , the hip joint angle or the hip joint angular velocity of the user wearing the walking assistance device may be changed by a certain level or more according to the walking environment. For example, as shown in FIG. 9A , the walking environment is a flat environment 911 , an upward slope environment 912 , a downward slope environment 913 , an upward stair environment 914 , and a downward stair environment 915 . When five walking environments are defined, the user's hip joint angle or hip joint angular velocity may vary by more than a certain level according to each walking environment.

In the example of FIG. 9B , a user wearing the walking assistance device 921 may walk in a flat environment 911 . In this case, the walking assistance apparatus 921 receives a reference gait model generated by applying the user's body information to a predetermined human body model from the outside, and provides the reference gait model to the user by the walking assistance apparatus 921 based on the reference gait model. An initial assisting force profile representing assistive force is generated, and an optimal assisting force profile in which the MCOT is minimized can be extracted by adjusting the change trajectory. In the flat environment 911 , the walking assistance device 921 may provide an assistive force to the user according to an optimal assistive force profile.

At a point 931 , the walking environment may be changed from the flat environment 911 to the upward slope environment 912 , and accordingly, the hip joint angle or hip joint angular velocity of the user performing the gait deviates from the predetermined threshold range or more. can In this case, the walking assistance device 921 measures the user's hip joint angle or hip joint angular velocity, and outputs an assisting force corresponding to at least one of the user's hip joint angle or hip joint angular velocity based on the reference walking model. By adjusting the gain of the driver, it is possible to extract the optimal gain that minimizes the MCOT. In the upward slope environment 912 , the walking assistance device 921 may set the gain of the driver as the extracted optimal gain.

At point 932 , the walking environment may be changed from the upward slope environment 912 to the flat environment 911 , and accordingly, the hip joint angle or hip joint angular velocity of the user performing the gait deviates from the predetermined threshold range or more. can In this case, the walking assistance device 921 may provide an assisting force to the user according to the optimal assisting force profile previously extracted from the flat environment 911, measure the user's hip joint angle or hip joint angular velocity, and based on this After extracting the optimal gain by adjusting the gain of the driver, the optimal gain may be set as the gain of the driver.

At a point 933 , the walking environment may be changed from the flat environment 911 to the downstairs environment 915 , and accordingly, the hip joint angle or the hip joint angular velocity of the user performing the gait deviates from the predetermined threshold range or more. can In this case, the walking assistance device 921 may measure the user's hip joint angle or hip joint angular velocity, adjust the gain of the driver based on this, extract the optimal gain, and set the optimal gain as the driver's gain.

10 is a diagram for describing setting of an optimal assisting force according to an exemplary embodiment.

Referring to FIG. 10 , the assistive force setting device 1020 may be configured as a separate device from the walking assisting device 1010 . The assistive force setting apparatus 1020 may extract the user's body information in advance, and may generate a reference gait model by applying the body information to a predetermined human body model. The assistive force setting device 1020 generates an initial assistive force profile representing a change trajectory of assisting force according to a predetermined cycle based on the reference walking model, and extracts an optimal assisting force profile in which MCOT is minimized by adjusting the change trajectory can do.

The assisting force setting apparatus 1020 may transmit the extracted optimal assisting force profile to the walking assisting apparatus 1010 using a communication interface. The walking assistance device 1010 may provide an assisting force to the user according to the optimal assisting force profile received from the assisting force setting device 1020 .

In an embodiment, the walking assistance apparatus 1010 may measure in real time at least one of a hip joint angle or a hip joint angular velocity of a user performing walking. The walking assistance device 1010 may transmit at least one of the measured hip joint angle and hip joint angular velocity to the assisting force setting device 1020 . The assisting force setting device 1020 adjusts the gain of the driver that outputs the assisting force corresponding to at least one of the hip joint angle or the hip joint angular velocity received from the walking assisting device 1010 based on the reference walking model, thereby adjusting the MCOT It is possible to extract the optimal gain that is the minimum. The assisting force setting apparatus 1020 may transmit the extracted optimum gain to the walking assistance apparatus 1010 , and the walking assistance apparatus 1010 may set the gain of the driver according to the optimum gain.

11 is a diagram for explaining an interface for providing an optimal assisting force profile according to an embodiment.

Referring to FIG. 11 , the walking assistance device 1110 may receive a reference walking model from an external device using a communication interface. The reference gait model may be stored in an external device by applying the user's body information to a predetermined human body model. Also, the walking assistance device 1110 may generate an initial assistive force profile indicating a change trajectory of the assisting force according to a predetermined period based on the reference gait model and adjust the change trajectory. The walking assistance apparatus 1110 may extract a change rate of the MCOT according to the adjustment of the change trajectory, and determine whether the MCOT is a minimum value based on the extracted change rate of the MCOT. When it is determined that the MCOT is not the minimum value, the walking assistance apparatus 1110 may repeatedly adjust the change trajectory until the MCOT becomes the minimum value. When it is determined that the MCOT is the minimum value, the walking assistance apparatus 1110 may set the change trajectory when the MCOT is the minimum value as the optimal change trajectory and generate an optimal assistive force profile according to the optimal change trajectory.

Also, the walking assistance device 1110 may communicate with the wearable device 1120 or the mobile terminal 1130 using a communication interface. For example, when the walking assistance device 1110 extracts the optimal assisting force profile, the walking assisting device 1110 may transmit information on the optimal assisting force profile to the wearable device 1120 or the mobile terminal 1130 . The wearable device 1120 or the mobile terminal 1130 may display the optimal assistive force profile received from the walking assistance device 1110 .

12 is a method flowchart illustrating a method of setting an assisting force according to an embodiment.

Referring to FIG. 12 , the assisting force setting device extracts user body information ( 1210 ).

Also, the assisting force setting apparatus generates a reference walking model by applying body information to a predetermined human body model ( S1220 ).

Also, the assisting force setting apparatus adjusts the assisting force provided to the user by the walking assisting apparatus based on the reference walking model to set the optimal assisting force ( 1230 ).

Since the contents described with reference to FIGS. 1 to 11 may be applied to the assisting force setting method according to the exemplary embodiment shown in FIG. 12 , a more detailed description will be omitted.

13 is a flowchart illustrating a walking assistance method according to an embodiment.

Referring to FIG. 13 , the walking assistance apparatus receives a reference walking model generated by applying the user's body information to a predetermined human body model from the outside ( 1310 ).

Also, the walking assistance apparatus adjusts the assisting force provided to the user by the walking assistance apparatus based on the reference walking model to set the optimal assistive force ( 1320 ).

Since the contents described with reference to FIGS. 1 to 12 may be applied to the walking assistance method according to the exemplary embodiment shown in FIG. 13 , a more detailed description will be omitted.

The device described above may be implemented as a hardware component, a software component, and/or a combination of the hardware component and the software component. For example, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, although one processing device is sometimes described as being used, one of ordinary skill in the art will recognize that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that can include For example, the processing device may include a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as parallel processors.

The software may comprise a computer program, code, instructions, or a combination of one or more thereof, which configures a processing device to operate as desired or is independently or collectively processed You can command the device. The software and/or data may be any kind of machine, component, physical device, virtual equipment, computer storage medium or apparatus, to be interpreted by or to provide instructions or data to the processing device. , or may be permanently or temporarily embody in a transmitted signal wave. The software may be distributed over networked computer systems, and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and carry out program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible from the above description by those skilled in the art. For example, the described techniques are performed in a different order than the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (21)

electronic device,
a memory in which a program for setting auxiliary torque is recorded; and
a processor that executes the program
including,
The program is
acquiring user's body information;
acquiring at least one of a joint angle and a joint angular velocity for a user's joint through a reference gait model generated based on the body information;
setting an auxiliary torque for the joint based on at least one of the obtained joint angle and joint angular velocity; and
performing the step of setting an optimal assistance torque by adjusting the assistance torque to reduce the amount of metabolic energy used for walking of the user,
electronic device.
According to claim 1,
The body information includes the height and weight of the user,
electronic device.
According to claim 1,
The program is
generating the reference gait model by applying the body information to the human body model;
to do more,
electronic device.
According to claim 1,
The program is
outputting the auxiliary torque to a display of the electronic device
to do more,
electronic device.
According to claim 1,
The program is
outputting the optimum auxiliary torque by controlling a driver using a gain corresponding to the optimum auxiliary torque
to do more,
electronic device.
According to claim 1,
The joint is a hip joint,
electronic device.
According to claim 1,
Setting the optimum auxiliary torque by adjusting the auxiliary torque comprises:
Setting the optimum auxiliary torque by adjusting the auxiliary torque of the actuator when at least one of the joint angle and the joint angular velocity of the joint is changed over a predetermined threshold range
containing,
electronic device.
According to claim 1,
The program is
determining the amount of metabolic energy consumed by the user for walking by calculating MCOT (Metabolic Cost Of Transport)
to do more,
electronic device.
9. The method of claim 8,
The program is
Calculating the MCOT using the force used by the user's muscle for walking, the moving speed of the muscle, the moving distance of the user, and the mass of the muscle
to do more,
electronic device.
9. The method of claim 8,
The program is
adjusting the auxiliary torque until the MCOT is at a minimum
further comprising,
electronic device.
9. The method of claim 8,
The program is
determining the rate of change of the MCOT according to the adjustment of the auxiliary torque,
electronic device.
According to claim 1,
The electronic device is a wearable device or a mobile terminal,
electronic device.
A method of setting an optimal auxiliary torque, performed by an electronic device, comprises:
acquiring user's body information;
acquiring at least one of a joint angle and a joint angular velocity for a user's joint through a reference gait model generated based on the body information;
setting an auxiliary torque for the joint based on at least one of the obtained joint angle and joint angular velocity; and
setting an optimal assist torque by adjusting the assist torque to reduce the amount of metabolic energy used for walking of the user
containing,
How to set the optimum auxiliary torque.
14. The method of claim 13,
The electronic device is a wearable device or a mobile terminal,
How to set the optimum auxiliary torque.
A computer-readable recording medium in which a program for performing any one of claims 13 and 14 is recorded. A walking assistance device mounted on a user to assist the user in walking,
a driver outputting an auxiliary torque for assisting the user's walking;
a sensor for measuring at least one of a joint angle and a joint angular velocity of the user's joint during the walking; and
Auxiliary torque for the joint is set by applying at least one of the joint angle and the joint angular velocity to a reference gait model generated based on the user's body information, and based on the amount of metabolic energy used for the user's gait to set the optimum auxiliary torque by adjusting the auxiliary torque, and a processor for controlling the actuator based on the optimum auxiliary torque
containing,
walking aids.
17. The method of claim 16,
The processor is
determining the gait environment of the gait based on at least one of a joint angle and a joint angular velocity of the user's joint,
setting an auxiliary torque for the joint based on the walking environment,
walking aids.
18. The method of claim 17,
The walking environment includes at least one of a flat environment, an upward slope environment, a stair environment, a downward slope environment, and a stair environment,
walking aids.
18. The method of claim 17,
The processor is
setting the optimal assistance torque by adjusting the assistance torque so that the amount of metabolic energy used for walking of the user is minimized;
walking aids.
17. The method of claim 16,
The processor is
Setting the optimal auxiliary torque by adjusting the auxiliary torque so that the amount of metabolic energy used for walking of the user is greater than or equal to a preset size,
walking aids.
The walking assistance system is
a walking assistance device mounted on the user to assist the user in walking; and
An additional device that is wirelessly connected to the walking assistance device and outputs information of the walking assistance device through a display
including,
The walking assistance device measures at least one of a joint angle and a joint angular velocity with respect to the user's joint through a reference gait model generated based on the user's body information, and receives at least one of the measured joint angle and joint angular velocity. setting the auxiliary torque for the joint based on the setting, and setting the optimum auxiliary torque by adjusting the auxiliary torque based on the amount of metabolic energy used for walking of the user,
The auxiliary device receives information on at least one of the auxiliary torque for the joint, the amount of metabolic energy, and the optimal auxiliary torque for the joint from the walking assistance device, and outputs the information to a display of the auxiliary device,
walking assistance system.

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